#include <cv.h>
#include <cvaux.h>
#include <highgui.h>
#include <stdio.h>
#include <math.h>
#include "tsai.h"
#include "gl.h"


/*************************************************************/

/** 
 Main
*/
int main( void )
{
 CvPoint2D32f corners[48];
 int resp;
 int corners_count;
 int flags=CV_CALIB_CB_ADAPTIVE_THRESH;
 int pattern_was_found=0;
 CvArr* FrameSaida;
int a,i,j,z;
  double f;
 double T[3];
 double r[9];
 double pr[16];
 double mv[16];

 double pontos_mundo_x[48];
 double pontos_mundo_y[48];

 double pontos_tabuleiro_x[48];
 double pontos_tabuleiro_y[48];

  IplImage* Frame = NULL; 
  CvCapture* capture = NULL;
  cvNamedWindow( "Video Inicial", CV_WINDOW_AUTOSIZE );
  cvNamedWindow( "Video Final", CV_WINDOW_AUTOSIZE );
 
  capture = cvCaptureFromAVI("c:\users\gattass\publichtml\ra\videos\videosTeoricamenteMelhores1.avi");
  
  if( !capture )
  {
    fprintf(stderr,"Could not initialize capturing...\n");
    return -1;
  }

while(1)
  {
	Frame = cvQueryFrame( capture );
    FrameSaida = cvCloneImage(Frame);
	resp = cvFindChessboardCorners(Frame, cvSize(8,6),&corners[0], &corners_count,flags);

	cvDrawChessboardCorners(FrameSaida,cvSize(8,6),corners,corners_count,pattern_was_found);

	
    cvShowImage("Video Inicial", Frame );
	cvShowImage("Video Final", FrameSaida );
    if(cvWaitKey(1) >= 0) break;
  }
 
  /***********************************************************/

  cvReleaseCapture( &capture );
  cvDestroyWindow("Video Inicial");
  cvDestroyWindow("Video Final");
  return 0;
}